Multifunctional clamp suitable for robot palletizer

Abstract

The utility model relates to the technical field of palletizing robots, in particular to a multifunctional clamp suitable for a palletizing robot, which comprises a sliding rail, a clamping arm and a clamping turnover assembly, a sliding block is mounted at the top end of the clamping arm, the clamping arm is slidably connected with the sliding rail through the sliding block, and the clamping turnover assembly is horizontally mounted at the bottom end of the clamping arm. The radio frequency identification assembly is integrated in the middle position of the sliding rail, when goods are grabbed, the radio frequency identification assembly can be rapidly aligned with a bar code over the goods and identify the bar code, bar code scanning operation is completed in the grabbing process, the two working procedures are combined into one, and the working efficiency is improved; the clamping and overturning assembly is adopted to grab goods, after grabbing, the motor B is matched with the driving box to drive the overturning shaft and the clamping disc to rotate, so that the goods are driven to rotate in the grabbing process, the side, with a bar code, of the goods is aligned to the radio frequency identification assembly above, the identification efficiency is improved, invalid procedures are reduced, and the working efficiency is delayed.

Description

Technical Field

[0001] The utility model relates to the technical field of palletizing robots, and particularly relates to a multifunctional fixture applicable to a palletizing robot. Background Technique

[0002] A palletizing robot is an automated device specifically designed to automatically stack (palletize) and sometimes also to pick up (depalletize) products in the fields of industrial production and logistics. These robots can significantly improve the efficiency of warehouses and production lines, reduce manual labor, lower costs, and improve the consistency and accuracy of operations.

[0003] The palletizing robot fixture is one of its important components and plays a crucial role when grasping products. It is flexible and stable during operation, but there are still some problems: 1) It does not have the function of barcode recognition and entry. When goods enter and leave the warehouse, an external scanning device is still required for data entry; 2) Due to the problem of stacking goods, the product barcode cannot be accurately aligned with the scanning device for data entry, and the traditional palletizing robot fixture usually requires a process of grasping, straightening, and then grasping again, which greatly delays the work efficiency; 3) It is unable to monitor and control the grasping force according to the type and weight of the goods. Content of the Utility Model

[0004] The purpose of the utility model is to provide a multifunctional fixture applicable to a palletizing robot to solve the problems raised in the above background technique.

[0005] To achieve the above purpose, the utility model provides the following technical solution: A multifunctional fixture applicable to a palletizing robot, including a slide rail, a clamping arm, and a clamping and flipping assembly. A slider is installed at the top end of the clamping arm, and the clamping arm is slidably connected to the slide rail through the slider. The clamping and flipping assembly is horizontally installed at the bottom end of the clamping arm. A radio frequency identification component is installed at the middle position of the bottom of the slide rail, a driving motor is installed at the middle position of the top of the slider, and a main suspension is installed at the edge of the top of the slider;

[0006] The radio frequency identification component includes a driver, an L-shaped suspension, a motor A, and a scanner. The driver is vertically installed at the middle position of the bottom of the slide rail. The L-shaped suspension is vertically arranged at the middle position of the bottom of the driver and is drivingly connected to the driver. The motor A is horizontally installed on the outside of the L-shaped suspension. The motor shaft of the motor A penetrates through the L-shaped suspension and extends to its inside. The scanner is horizontally installed at the end of the motor shaft. By setting the driver, the L-shaped suspension and the scanner can be driven to rotate. By the motor A, the scanner can be driven to adjust the inclination angle. The scanner is specifically an instrument that uses radio frequency identification technology to identify and read barcodes;

[0007] The clamping and flipping assembly includes a driving box, a motor B, a top plate, a limiting ring, a clamping plate, a flipping shaft and a spring. The driving box is horizontally installed on the outer side of the bottom end of the clamping arm. The motor B is vertically installed at the middle position on the top of the driving box, and the driving box is drivingly connected with the motor B. The top plate is vertically arranged on the inner side of the bottom end of the clamping arm. The limiting ring is nested at the edge of the top plate and is fixedly connected with the clamping arm by screws. The top plate can move horizontally at a fixed distance. The flipping shaft is horizontally arranged through the middle positions of the driving box, the clamping arm and the top plate in sequence, and the flipping shaft can move axially along the penetrating position. The clamping plate is vertically arranged on one side of the top plate and is rotationally connected with the top plate. One end of the flipping shaft is fixedly connected with the middle position of the inner wall of the clamping plate. The spring is embedded and installed between the top plate and the clamping arm.

[0008] Preferably, a tooth groove is formed on the side surface of the flipping shaft, and the flipping shaft is drivingly connected with the driving box through the tooth groove. Both the flipping shaft and the tooth groove have a certain length. Therefore, when the flipping shaft moves horizontally, it does not affect the driving cooperation between the driving box and the tooth groove.

[0009] Preferably, the slide rail further includes a gear box and a bidirectional screw. The gear box is embedded and installed at the middle position inside the slide rail. The bidirectional screw is horizontally arranged through the middle position of the gear box. The bidirectional screw is drivingly connected with the gear box. The two ends of the bidirectional screw are rotationally connected with the slide rail. By setting the bidirectional screw, the two sliders and the two clamping arms are driven to move horizontally in opposite directions.

[0010] Preferably, the top plate is composed of a plate A, a connecting shaft and a plate B. The plate A and the plate B are parallel to each other, and several connecting shafts are obliquely welded at the edge positions between the plate A and the plate B.

[0011] Preferably, a force sensor is embedded and installed at the middle position of the side wall of the clamping plate, and a flexible pad is embedded and installed at the edge position of the side wall of the clamping plate. By setting the force sensor, the force magnitude when the fixture grabs an item can be monitored, and different grasping forces can be adopted for items of different materials and weights.

[0012] Compared with the prior art, the utility model provides a multifunctional fixture applicable to a palletizing robot, which has the following beneficial effects:

[0013] 1. The radio frequency identification component is integrated at the exact middle position of the slide rail. When grabbing goods, the radio frequency identification component can quickly align with the barcode directly above the goods and identify it, realizing the barcode scanning operation during the grabbing process. The two processes are combined into one, improving the work efficiency.

[0014] 2. The clamping and flipping assembly is used to grab the goods. After grabbing, the motor B cooperates with the driving box to drive the flipping shaft and the clamping plate to rotate, thereby driving the goods to rotate during the grabbing process, aligning the side of the goods with the barcode with the radio frequency identification component above, improving the identification efficiency, and reducing the delay of the work efficiency caused by ineffective processes.

[0015] 3. A force sensor is installed inside the clamping disc, which can monitor the magnitude of the clamping force between the clamping disc and the goods during the grasping process. The greater the distance the clamping arm moves inward towards the goods, the greater the force driving the clamping disc and the top disc to compress the spring. The elastic potential energy is proportional to the degree of deformation of the spring. Within the elastic limit, the more severely the spring is compressed, the greater the elastic potential energy it stores, thereby providing a stronger reaction force for clamping the goods. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings:

[0017] Figure 1 It is a front structural schematic diagram of the present invention;

[0018] Figure 2 It is a side structural schematic diagram of the present invention;

[0019] Figure 3 It is a structural schematic diagram of the bidirectional screw of the present invention;

[0020] Figure 4 It is a structural schematic diagram of the clamping and flipping assembly of the present invention;

[0021] Figure 5 It is a structural schematic diagram of the top disc of the present invention;

[0022] Figure 6 It is a structural schematic diagram of the rotation shaft of the present invention;

[0023] Figure 7 It is a structural schematic diagram of the clamping disc of the present invention;

[0024] Figure 8 It is a structural schematic diagram of the radio frequency identification component of the present invention;

[0025] In the figure: 1, slide rail; 11, gear box; 12, bidirectional screw; 2, clamping arm; 21, slider; 3, radio frequency identification component; 31, driver; 32, L-shaped suspension; 33, motor A; 34, scanner; 4, clamping and flipping assembly; 41, drive box; 42, motor B; 43, top disc; 431, disc A; 432, connecting shaft; 433, disc B; 44, limit ring; 45, clamping disc; 451, flexible pad; 452, force sensor; 46, rotation shaft; 461, tooth groove; 47, spring; 5, main suspension; 6, drive motor. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0026] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0027] In the present invention, unless otherwise clearly defined and limited, terms such as "installation", "connection", "connection", "fixation" and the like shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0028] Embodiment 1:

[0029] Please refer to Figures 1-8 , the present invention provides a technical solution: a multi-functional fixture applicable to a palletizing robot, including a slide rail 1, a clamping arm 2 and a clamping and flipping assembly 4. A slider 21 is installed at the top end of the clamping arm 2, and the clamping arm 2 is slidably connected to the slide rail 1 through the slider 21. The clamping and flipping assembly 4 is horizontally installed at the bottom end of the clamping arm 2. A radio frequency identification component 3 is installed at the middle position of the bottom of the slide rail 1. A driving motor 6 is installed at the middle position of the top of the slider 21, and a main suspension 5 is installed at the edge of the top of the slider 21;

[0030] The radio frequency identification component 3 includes a driver 31, an L-shaped suspension 32, a motor A 33 and a scanner 34. The driver 31 is vertically installed at the middle position of the bottom of the slide rail 1. The L-shaped suspension 32 is vertically arranged at the middle position of the bottom of the driver 31 and is drivingly connected to the driver 31. The motor A 33 is horizontally installed outside the L-shaped suspension 32. The motor shaft of the motor A 33 penetrates through the L-shaped suspension 32 and extends to its inner side. The scanner 34 is horizontally installed at the end of the motor shaft. By setting the driver 31, the L-shaped suspension 32 and the scanner 34 can be driven to rotate. By the motor A 33, the scanner 34 can be driven to adjust the inclination angle. The scanner 34 is specifically an instrument that uses radio frequency identification technology to identify and read barcodes;

[0031] The clamping and flipping assembly 4 includes a drive box 41, a motor B 42, a top plate 43, a limit ring 44, a clamping plate 45, a flipping shaft 46 and a spring 47. The drive box 41 is horizontally installed on the outer side of the bottom end of the clamping arm 2. The motor B 42 is vertically installed at the middle position on the top of the drive box 41, and the drive box 41 is drivingly connected to the motor B 42. The top plate 43 is vertically arranged on the inner side of the bottom end of the clamping arm 2. The limit ring 44 is nested at the edge of the top plate 43 and is fixedly connected to the clamping arm 2 by screws. The top plate 43 can move horizontally at a fixed distance. The flipping shaft 46 horizontally penetrates through the middle positions of the drive box 41, the clamping arm 2 and the top plate 43 in sequence. The flipping shaft 46 can axially move along the penetration position. The clamping plate 45 is vertically arranged on one side of the top plate 43 and is rotatably connected to the top plate 43. One end of the flipping shaft 46 is fixedly connected to the middle position of the inner wall of the clamping plate 45. The spring 47 is embedded and installed between the top plate 43 and the clamping arm 2.

[0032] Preferably, a toothed groove 461 is formed on the side surface of the flipping shaft 46. The flipping shaft 46 is drivingly connected to the drive box 41 through the toothed groove 461. The flipping shaft 46 and the toothed groove 461 both have a certain length. Therefore, when the flipping shaft 46 moves horizontally, it does not affect the driving cooperation between the drive box 41 and the toothed groove 461.

[0033] Preferably, the slide rail 1 further includes a gear box 11 and a bidirectional screw 12. The gear box 11 is embedded and installed at the middle position inside the slide rail 1. The bidirectional screw 12 horizontally penetrates through the middle position of the gear box 11. The bidirectional screw 12 is drivingly connected to the gear box 11. The two ends of the bidirectional screw 12 are rotatably connected to the slide rail 1. By means of the arranged bidirectional screw 12, the two sliders 21 and the two clamping arms 21 are driven to horizontally move in opposite directions.

[0034] Preferably, the top plate 43 is composed of a plate A 431, a connecting shaft 432 and a plate B 433. The plate A 431 and the plate B 433 are parallel to each other. A plurality of connecting shafts 432 are obliquely welded at the edge positions between the plate A 431 and the plate B 433.

[0035] Preferably, a force sensor 452 is embedded and installed at the middle position of the side wall of the clamping plate 45, and a flexible pad 451 is embedded and installed at the edge position of the side wall of the clamping plate 45. By means of the arranged force sensor 452, the magnitude of the force when the clamp grasps an object can be monitored, and different grasping forces can be adopted for objects of different materials and weights.

[0036] Working principle: When in use, connect this multifunctional fixture to the robotic arm of the palletizing robot through the main suspension 5. When grasping goods, align the space between the two clamping arms 2 with the side of the goods. Start the drive motor 6, and drive the two sliders 21 to move towards the middle position through the gear box 11 and the bidirectional screw 12, thereby driving the two clamping arms 2 to move towards the middle position until the clamping disc 45 of the clamping and flipping assembly 4 closely adheres to the surface of the goods, then stop. At this time, the palletizing robot can grasp and stack the goods together with this multifunctional fixture. During this process, the scanner 34 of the radio frequency identification component 3 will scan the barcode on the surface of the goods and record it. When the goods barcode is on other surfaces and cannot be scanned by the radio frequency identification component 3, start the motor B42 to drive the clamping disc 45 to rotate through the rotation shaft 46, thereby driving the clamped goods to rotate an angle to adapt to the radio frequency identification component 3. During the process of grasping the goods, the force sensor 452 will monitor the force between the clamping disc 45 and the goods. Set the grasping force in advance according to information such as the material and weight of the goods to be transported. When the clamping arm 2 clamps the goods, it will exert a compressive force on the spring 47. The greater the degree of compression of the spring 47, the greater the elastic potential energy it can provide, thereby providing a reverse acting force for grasping to achieve grasping force control. The radio frequency identification component 3 can adjust the angle of the scanner 34 through the driver 31, the L-shaped suspension 32, and the motor A33.

[0037] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising a..." does not exclude the existence of additional identical elements in the process, method, article or device comprising the element.

Claims

1. A multi-functional fixture applicable to a palletizing robot, characterized in that: It includes a slide rail (1), a clamping arm (2) and a clamping and flipping assembly (4). A slider (21) is installed at the top end of the clamping arm (2). The clamping arm (2) is slidably connected to the slide rail (1) through the slider (21). The clamping and flipping assembly (4) is horizontally installed at the bottom end of the clamping arm (2). A radio frequency identification component (3) is installed at the middle position of the bottom of the slide rail (1). A driving motor (6) is installed at the middle position of the top of the slider (21). A main suspension (5) is installed at the edge of the top of the slider (21). The radio frequency identification component (3) includes a driver (31), an L-shaped suspension (32), a motor A (33) and a scanner (34). The driver (31) is vertically installed at the middle position of the bottom of the slide rail (1). The L-shaped suspension (32) is vertically arranged at the middle position of the bottom of the driver (31) and is drivingly connected to the driver (31). The motor A (33) is horizontally installed on the outer side of the L-shaped suspension (32). The motor shaft of the motor A (33) penetrates through the L-shaped suspension (32) and extends to its inner side. The scanner (34) is horizontally installed at the end of the motor shaft. The clamping and flipping assembly (4) includes a driving box (41), a motor B (42), a top disc (43), a limiting ring (44), a clamping disc (45), a turning shaft (46) and a spring (47). The driving box (41) is horizontally installed on the outer side of the bottom end of the clamping arm (2). The motor B (42) is vertically installed at the middle position of the top of the driving box (41), and the driving box (41) is drivingly connected to the motor B (42). The top disc (43) is vertically arranged at the inner side of the bottom end of the clamping arm (2). The limiting ring (44) is nested at the edge of the top disc (43) and is fixedly connected to the clamping arm (2) by screws. The top disc (43) can move horizontally at a fixed distance. The turning shaft (46) is horizontally arranged through the middle positions of the driving box (41), the clamping arm (2) and the top disc (43) in sequence. The turning shaft (46) can move axially along the penetrating position. The clamping disc (45) is vertically arranged on one side of the top disc (43) and is rotatably connected to the top disc (43). One end of the turning shaft (46) is fixedly connected to the middle position of the inner wall of the clamping disc (45). The spring (47) is embedded and installed between the top disc (43) and the clamping arm (2).

2. The multifunctional fixture applicable to a palletizing robot according to claim 1, wherein: Tooth grooves (461) are formed on the side surface of the turning shaft (46). The turning shaft (46) is drivingly connected to the driving box (41) through the tooth grooves (461).

3. The multifunctional fixture applicable to a palletizing robot according to claim 1, wherein: The slide rail (1) further includes a gear box (11) and a bidirectional screw (12). The gear box (11) is embedded and installed at the middle position inside the slide rail (1). The bidirectional screw (12) is horizontally arranged through the middle position of the gear box (11). The bidirectional screw (12) is drivingly connected to the gear box (11). Both ends of the bidirectional screw (12) are rotatably connected to the slide rail (1).

4. The multifunctional fixture applicable to a palletizing robot according to claim 1, characterized in that: The top plate (43) is composed of a disk A (431), a connecting shaft (432), and a disk B (433). The disk A (431) and the disk B (433) are parallel to each other, and several connecting shafts (432) are obliquely welded at the edge positions between the disk A (431) and the disk B (433).

5. The multifunctional fixture applicable to a palletizing robot according to claim 1, wherein: A force sensor (452) is embedded and installed at the middle position of the side wall of the clamping disk (45), and a flexible pad (451) is embedded and installed at the edge position of the side wall of the clamping disk (45).

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